Magnetic Actuators for Haptic Response

ABSTRACT

In an embodiment, an actuator or circuit includes elements moveably coupled via bearings positioned between curved grooves. The bearings and the curves may exert a restorative force to return the elements to an original position after movement and may be spherical, cubic, cylindrical, and/or include gears that interact with groove gears. In some embodiments, an electrical coil may be coplanar with a surface of an element and a hard magnet may be positioned in the center and be polarized to stabilize or destabilize the element with respect to another element. In various embodiments, a magnetic circuit includes an element with an electrical coil wrapped in multiple directions around the element. In some embodiments, an actuator includes attraction elements and exertion of force causes an element to approach, contact, and/or magnetically attach to one of the attraction elements.

TECHNICAL FIELD

This disclosure relates generally to haptic devices, and morespecifically to magnetic actuators that provide a haptic response.

BACKGROUND

Magnetic actuators, such as those utilized in haptic devices, typicallyinclude a first body element that is moveable with relation to a secondbody element. Such movement may be accomplished through direction ofmagnetic flux utilizing one or more electrical coils, soft magnets (amaterial that is not permanently magnetic but can become magnetic inresponse to the proximity of a magnetic force) coils, and/or one or morehard magnets (materials that are permanently magnetic such as rare-earthmagnets). The movement may cause vibrations, which may be provided to auser as haptic output or feedback.

SUMMARY

The present disclosure discloses magnetic actuators and circuits. Invarious embodiments, a magnetic actuator or circuit may include amoveable body or bar element that is moveably coupled to a fixed body orbar element via one or more bearings positioned between one or moregrooves. In some cases the grooves may be curved such that force exertedcausing lateral movement of the moveable body or bar elements cause thebearings to move upward on the curve of the groove such that the bearingmoves back down the curve and restores the moveable body or bar elementsto an original position after the force is no longer exerted. In variouscases, the bearings may be spherical, cubic, cylindrical, and/or includegear elements that interact with one or more gear elements of thegrooves. In some cases, the bearings cause the moveable body or barelement to translate vertically as well as move laterally, though inother cases the bearings may only cause the moveable body or barelements to move laterally.

In some embodiments, a body element may include one or more electricalcoils coplanar with the body element. In various cases, the body elementmay also include one or more hard magnets positioned in the center ofthe electrical coil that are polarized to stabilize or destabilizecentering of the body element with respect to the another body element.

In various embodiments, a magnetic circuit may include a first barelement with a plurality of hard magnets and/or soft magnets and asecond bar element with one or more electrical coils wrapped around thesecond bar element. In some cases, the electrical coil may include afirst section wrapped in a first direction, a second section wrapped inan opposing direction, and a middle section that transitions between thefirst direction and the second direction.

In one or more embodiments, an actuator may include a fixed body elementwith first and a second side soft magnets that is moveably coupled to amoveable body element. Exertion of force may cause the moveable bodyelement to move such that the moveable body element approaches and/orcontacts the first or second soft side magnet. Such contact may resultin a “tap,” which may be provided to a user as a tactile output. Uponcontact, the moveable body element may magnetically attach to therespective soft side magnet and may remain so after the force is nolonger exerted until another force is exerted that detaches the moveablebody element and causes it to move to approach the other soft sidemagnet.

In some embodiments, an actuator may include a first magnetic attractionelement, a second magnetic attraction element, and a moveable memberincluding a first hard magnet, a second hard magnet, and an electricalcoil. Exertion of force may cause the moveable member to move such thatthe first hard magnet approaches and/or contacts the first magneticattraction element or the second hard magnet approaches and/or contactsthe second magnetic attraction element. Such contact may result in a“tap,” which may be provided to a user as a tactile output. Uponcontact, the respective hard magnet may magnetically attach to therespective magnetic attraction element and may remain so after the forceis no longer exerted until another force is exerted that detaches therespective hard magnet and causes the moveable member to move such thatthe other hard magnet approaches the other magnetic attraction member.In some cases, the magnetic attraction elements may be hard magnets,though in other implementations the magnetic attraction elements may besoft magnets.

It is to be understood that both the foregoing general description andthe following detailed description are for purposes of example andexplanation and do not necessarily limit the present disclosure. Theaccompanying drawings, which are incorporated in and constitute a partof the specification, illustrate subject matter of the disclosure.Together, the descriptions and the drawings serve to explain theprinciples of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a top view illustrating a track pad incorporated into anelectronic device.

FIG. 1B is a cross sectional side view of the electronic device takenalong line 1B in FIG. 1A including a first embodiment of a magneticactuator.

FIG. 1C is a bottom view of the first moveable body element of FIG. 1B.

FIG. 1D is a top view of the second moveable body element of FIG. 1B.

FIG. 1E is a close up side view of a first moveable body element grooveof the first moveable body element of FIG. 1C.

FIG. 1F is a cross sectional side view of the electronic device takenalong line 1F in FIG. 1A illustrating an example flow of magnetic flux.

FIG. 1G illustrates a cross sectional side view of an alternativeembodiment of the second moveable body element of FIG. 1B taken alongline 1G of FIG. 1D.

FIG. 1H is a close up side view of alternative embodiment of the firstmoveable body element groove of the first moveable body element of FIG.1E.

FIG. 1I is a cross sectional side view of the electronic device takenalong line 1B in FIG. 1A including a second embodiment of a magneticactuator.

FIG. 1J is a close up view of a bearing and a second moveable bodyelement groove of FIG. 1I.

FIG. 2A is a cross sectional side view of a first implementation of athird embodiment of a magnetic actuator.

FIG. 2B is a cross sectional side view of a second implementation of themagnetic actuator of FIG. 2A.

FIG. 3A is a cross sectional side view of a first implementation of afourth embodiment of a magnetic actuator.

FIG. 3B illustrates the magnetic actuator of FIG. 3A after theapplication of a first electrical current to an electrical coil of themagnetic actuator.

FIG. 3C illustrates the magnetic actuator of FIG. 3B after theapplication of a second electrical current to the electrical coil of themagnetic actuator.

FIG. 3D is a front plan view of a second implementation of the fourthembodiment of a magnetic actuator.

FIG. 3E is a cross sectional view of the magnetic actuator of FIG. 3Dtaken along line 3E in FIG. 3D

FIG. 3F illustrates the magnetic actuator of FIG. 3E after theapplication of a first electrical current to an electrical coil of themagnetic actuator.

FIG. 3G illustrates the magnetic actuator of FIG. 3F after theapplication of a second electrical current to the electrical coil of themagnetic actuator.

FIG. 3H illustrates the magnetic actuator of FIG. 3D with a housingsurrounding parts of the magnetic actuator.

FIG. 4A is a front view of a first embodiment of a magnetic circuit.

FIG. 4B is a side view of the magnetic circuit of FIG. 4A.

FIG. 4C is a front view of a second embodiment of a magnetic circuit.

FIG. 4D is a front view of a third embodiment of a magnetic circuit.

FIG. 4E is a front view of a fourth embodiment of a magnetic circuit.

DETAILED DESCRIPTION

The description that follows includes sample systems, methods, andcomputer program products that embody various elements of the presentdisclosure. However, it should be understood that the describeddisclosure may be practiced in a variety of forms in addition to thosedescribed herein.

In many magnetic actuators, a first body element and a second bodyelement may be connected via one or more centering springs. When thefirst and second body elements move with respect to each other from anoriginal position, the centering spring may exert a restorative forceupon the first and second body elements. This restorative force mayoperate to bring the first and second body elements back to the originalposition so that the first and second body elements are positioned forsubsequent movement.

The present disclosure discloses magnetic actuators and circuits. Invarious embodiments, a magnetic actuator or circuit may include a firstelement that is moveably coupled to a second element via one or morebearings positioned between one or more grooves. In some cases thegrooves may be curved. The bearings and the curves may exert arestorative force to return the first and second elements to an originalposition after movement. In various cases, the bearings may bespherical, cubic, cylindrical, and/or include gear elements thatinteract with one or more gear elements of the grooves.

In some embodiments, a second element may include one or more electricalcoils are coplanar with a surface of the second element. In variouscases, the second element may also include one or more hard magnetspositioned in the center of the electrical coil that are polarized tostabilize or destabilize centering of the second element with respect toa first element.

In various embodiments, a magnetic circuit may include a second elementwith one or more electrical coils wrapped around the second element. Insome cases, the electrical coil may include a first section wrapped in afirst direction, a second section wrapped in an opposing direction, anda middle section that transitions between the first direction and thesecond direction.

In one or more embodiments, an actuator may include a first element withfirst and second side soft magnets that is moveably coupled to a secondelement. Exertion of force may cause the second element to move suchthat the second body element approaches and/or contacts the first orsecond soft side magnet. Such contact may result in a “tap,” which maybe provided to a user as a tactile output. Upon contact, the secondelement may magnetically attach to the respective soft side magnet andmay remain so after the force is no longer exerted until another forceis exerted that detaches the second element and causes it to move toapproach the other soft side magnet.

In other embodiments, an actuator may include a first magneticattraction element, a second magnetic attraction element, and a moveablemember including a first hard magnet, a second hard magnet, and anelectrical coil. Exertion of force may cause the moveable member to movesuch that the first hard magnet approaches and/or contacts the firstmagnetic attraction element or the second hard magnet approaches and/orcontacts the second magnetic attraction element. Upon contact, therespective hard magnet may magnetically attach to the respectivemagnetic attraction element and may remain so after the force is nolonger exerted until another force is exerted that detaches therespective hard magnet and causes the moveable member to move such thatthe other hard magnet approaches the other magnetic attraction member.

FIG. 1A is a top view illustrating a track pad 102 incorporated into anelectronic device 101. The electronic device may be any electronicdevice that includes a track pad such as a desktop computer, a laptopcomputer, a wearable device, a smart phone, a digital media player, amobile computing device, a tablet computing device, and so on.

FIG. 1B is a cross sectional side view of the electronic device 101taken along the line 1B in FIG. 1A. As illustrated, a first embodimentof a magnetic actuator 100A is coupled to the track pad 102.

Although the magnetic actuator is illustrated and described herein ascoupled to the track pad of the electronic device, it is understood thatthis is an example. In various implementations, the magnetic actuatormay be utilized in a variety of different ways in a variety of differentelectronic devices. For example, such a magnetic actuator may be coupledto a housing (such as the housing of a tablet computer, mouse, and soon), one or more selection elements (such as one or more keys of akeyboard, buttons of a mouse, touch pads of a tablet computing device,and so on), a wearable device such as a watch, glasses, and so on.

As illustrated, the magnetic actuator may include a fixed body element104, a number of bearings 110 (which may be spherical), and a moveablebody element 103. The fixed body element may include an electrical coil107 (which may be coplanar with a surface of the first moveable bodyelement) and a number of first grooves 105. The moveable body elementmay include a first hard magnet (materials that are permanently magneticsuch as rare-earth magnets) 108, a second hard magnet element 109 (seeFIGS. 1D and 1E) (which may have an opposite polarity than the firsthard magnet facing a surface of the moveable body element), and a numberof second grooves 106. The moveable body element may be attracted to thefixed body element via the first hard magnet and/or the second hardmagnet element. The moveable body element may be separated from thefixed body element by the bearings positioned in the first and secondgrooves.

FIG. 1C is a bottom view of the fixed body element 104. As illustrated,the first grooves may be curved such that the fixed body element groovesare deeper at a center portion 150 than at either edge portion 151 or152.

FIG. 1D is a top view of the moveable body element 103. As illustrated,the second grooves 106 may be curved such that the second moveable bodyelement grooves are deeper at a center portion 160 than at either edgeportion 161 or 162.

Application of electrical current to the electrical coil 107 may causethe electrical coil to generate a magnetic field. The magnetic field hasa magnetic flux. The magnetic flux may exert a force upon any magneticmaterial (i.e., the first hard magnet 108 and the second hard magnet109) within the magnetic field. The vector of the force may vary withthe magnetic flux, which may vary according to the position of themagnetic material within the field. This force may cause the moveablebody element 103 to move laterally with respect to the fixed bodyelement 104. This movement may cause one or more vibrations, which maybe provided to a user as tactile output or feedback. An example of theflow of the magnetic flux 170 can be seen in FIG. 1F.

Thus, returning to FIGS. 1B-1D, when the moveable body element 103 moveslaterally with respect to the fixed body element 104 due to the lateralforce, the bearing 110 may move from the deeper center portions 150 and160 to the narrower edge portions 151, 161 or 152, 162 (depending on thedirection of motion). This may force the moveable body element furtheraway vertically from the fixed body element. When the lateral forceceases, gravity and/or other forces may then cause the bearing to movefrom the narrower edge portions 151, 161 or 152, 162 to the deepercenter portions 150 and 160. This may allow the moveable body element tomove back vertically closer to the fixed body element.

As such, the bearings 110 and the grooves 105 and 106 may interact toexert a restorative force on the moveable body element after movement.This restorative force may operate to return the moveable body elementto an original position with respect to the fixed body element after thelateral movement.

FIG. 1E is a close-up side view of a first groove of the fixed bodyelement 104 of FIG. 1C. As illustrated, the center portion 150 is deeperthan the edge portions 151 or 152.

With reference again to FIG. 1C, in addition to the center portion 150of the first grooves 105 being deeper than the edge portions 151 and152, the grooves may be curved such that the inside portion of thegrooves are deeper than their outside portions. As such, the firstgrooves may be v-shaped cross-sectionally, u-shaped, or similarlyshaped. This may cause the sides of the bearings 110 to contact outsideportions of the first grooves at two points as opposed to the bottom ofthe bearings contacting the inside portion of the first grooves (e.g.,the bottom of the channel formed by the first grooves). With referenceagain to FIG. 1D, the second grooves 106 may be similarly curved.

Additionally, although the bearings 110 are illustrated and describedabove as spherical and the first and second grooves 105 and 106 areshown as curved cross sectionally to correspond to the bearings, it isunderstood that this is an example. In various implementations, thebearings may be cylindrical and include a plurality of gear elementsthat are configured to interact with gear elements defined in the firstand second grooves. Such an implementation may prevent slippage betweenthe bearings and the first grooves and the second grooves. Such animplementation is illustrated in FIG. 1H, which illustrates gearelements 192 defined in a first groove 105 interacting with gearelements 191 of a cylindrical bearing 110.

FIG. 1F is a cross sectional side view of the electronic device takenalong line 1F in FIG. 1A, illustrating an example flow of magnetic flux170 in response to a specific electrical current applied to theelectrical coil 107.

Although the magnetic actuator 100A is illustrated and described aboveas including four bearings 110, four first grooves 105, and four secondgrooves 106, it is understood that this is an example. In variousimplementations, the magnetic actuator may include any number ofbearings and/or grooves (such as one, three, or fifteen).

FIG. 1G illustrates a cross sectional side view of an alternativeembodiment of the moveable body element 103 of FIG. 1B, taken along line1G of FIG. 1D. As illustrated, at least one soft magnet 180 (a materialthat is not permanently magnetic but can become magnetic in response tothe proximity of a magnetic force) may be positioned beneath the firsthard magnet 108 and/or the second hard magnet 109 such that the firsthard magnet and/or the second hard magnet are positioned between thesoft magnet and the fixed body element 104. In some implementations, thesoft magnet may be composed at least partially of a ferrous metal suchas steel.

FIG. 1I is a cross sectional side view of the electronic device takenalong line 1B in FIG. 1A, including a second embodiment of a magneticactuator 1001. As illustrated, in this embodiment the bearings 110 arecubes. Further, the first grooves 105 include curved areas 141 and 143that curve inward toward center point 142. Similarly, the second grooves106 include curved areas 145 and 147 that curve inward toward centerpoint 143.

As such, when the moveable body element 103 moves laterally with respectto the fixed body element 104 due to the application of force, the cubebearings may roll along the corresponding curved areas. When the forceceases, gravity and/or other forces may then cause the cube bearings toroll back along the corresponding curved areas. This may provide arestorative force that may operate to return the moveable body elementto an original position with respect to the fixed body element aftermovement.

The relationship between the dimensions of the cube and the dimensionsof the curved areas 141, 143, 145, and/or 147 may determine whether ornot the cube bearings 110 move the moveable element 103 in a purelylateral direction or whether the cube bearings force the moveable bodyelement to translate vertically as well as laterally.

FIG. 1J is a close up view of a bearing 110 and a second groove 106 ofFIG. 1I. The lines 149 indicate the movement of the moveable element 103that may result based on a center point 148 of the cube bearings. Giventhe dimensions of the cube bearing illustrated, the center pointcorresponds to the lowest line 149, which is curved to indicate that themoveable body element would translate vertically during lateralmovement. However, if the cube bearing was large enough that the centerpoint corresponded to the top line 149, the moveable body element wouldonly move laterally and would not translate vertically.

Although the moveable body element 103 has been illustrated anddescribed above as moveable with respect to the fixed body element 104,it is understood that this is an example. In various implementations,the body element 104 may be moveable with respect to a fixed bodyelement 103.

FIG. 2A is a cross sectional side view of a first implementation of athird embodiment of a magnetic actuator 200. In some implementations,such a magnetic actuator may be coupled to a device such as the trackpad 102 of FIG. 1A.

Returning to FIG. 2A, as illustrated, the magnetic actuator 200 mayinclude a first body element 211 that is moveably coupled to a secondbody element 212 such that the second body element is capable of lateralmovement with respect to the first body element. The first body elementmay include a soft magnet 201, a first hard magnet 203, and a secondhard magnet 204 (which may have an opposite polarity than the first hardmagnet facing a surface of the first body element). The second bodyelement may include an electrical coil 205 wound in a circulararrangement to have a first side 206, a second side 207, and a gap inthe center. The second body element may also include a center hardmagnet positioned in the gap in the center of the electrical coil and asecond soft magnet element 202 positioned underneath the electricalcoil.

In response to application of an electrical current, the first andsecond sides of the electrical coil 206 and 207 may generate a magneticfield. The magnetic field has a magnetic flux 209. The magnetic flux mayexert a force upon any magnetic material (i.e., the first hard magnet203 and the second hard magnet 204) within the magnetic field. Thevector of the force may vary with the magnetic flux, which may varyaccording to the position of the magnetic material within the field.This force may cause the second body element 212 to move laterally withrespect to the first body element 211. This movement may cause one ormore vibrations, which may be provided to a user as tactile output orfeedback.

In this first implementation, the center hard magnet 208 may bepolarized to oppose the direction of the magnetic flux 209. Thisopposition may destabilize centering of the first body element 211 withrespect to the second body element 212 because the polarities of thesides of the center hard magnet 208 repel the respective polarities ofthe undersides of the first and second hard magnets 203 and 204.Instead, as a result of the opposition and repulsion, the second bodyelement may be more stable when offset from center in either lateraldirection with respect the first body element than when centered withrespect to the first body element. In implementations where the secondbody element has an original position centered with respect to the firstbody element, this may cause resistance to the second moveable bodyelement returning to the original centered position with respect to thefirst moveable body element after the lateral movement 210.

In other implementations, the second body element 212 may have anoriginal position that is offset with respect to the first body element211 and that may be disrupted by the lateral movement 210 of the secondbody element. In such implementations, the opposition of the center hardmagnet 208 to the direction of the magnetic flux 209 may provide arestorative force after the lateral movement (caused by the repulsion ofthe sides of the center hard magnet 208 that the respective polaritiesof the undersides of the first and second hard magnets 203 and 204) thatacts to return the second body element to the original offset positionwith respect to the first body element after the lateral movement of thesecond body element.

The second body element 212 may be moveably coupled to the first bodyelement 211 utilizing a variety of different mechanisms (not shown). Forexample, in some implementations the second body element may besuspended from the first body element, such as by wire or string. Inother implementations, one or more springs, magnetic forces, and so onmay moveably couple the second body element to the first body element.

FIG. 2B is a cross sectional side view of a second implementation of themagnetic actuator of FIG. 2A. In this second implementation, the centerhard magnet 208 may be polarized to complement the direction of themagnetic flux 209. This complementing force may exert a restorativeforce on the first moveable body element and/or the second moveable bodyelement because the polarities of the sides of the center hard magnet208 attract the respective polarities of the undersides of the first andsecond hard magnets 203 and 204. Such restorative force may act toreturn the second body element 212 to an original position with respectto the first body element 211 after the lateral movement 210 of thesecond body element.

Although the second body element 212 has been illustrated and describedabove as moveable with respect to the first body element 211, it isunderstood that this is an example. In various implementations, thefirst body element may be moveable with respect to the second bodyelement.

FIG. 3A is a cross sectional side view of a first implementation of afourth embodiment of a magnetic actuator 300A. In some implementations,such a magnetic actuator may be coupled to a device such as the trackpad 102 of FIG. 1A.

Returning to FIG. 3A, as illustrated, the magnetic actuator 300A mayinclude a moveable body element 302A that is moveably coupled (such aslaterally moveably coupled) to a fixed body element 301A. The fixed bodyelement may include a first hard magnet 306A, a second hard magnet 307A,and a soft magnet 303A. The soft magnet may include a top structure310A, a first side soft magnet 304A, and a second side soft magnet 305A.The moveable body element may include a base element 309A (which may beat least one soft magnet) and an electrical coil 308A.

Although the fixed body element 301A is illustrated and described asincorporating the top structure 310A, the first side soft magnet 304A,and the second side soft magnet 305A into a single soft magnet 303A, itis understood that this is an example. In other implementations thefirst side soft magnet, the second side soft magnet, and/or the topstructure may be formed of separate soft magnets. Additionally, invarious implementations the top structure may not be a soft magnet.

In response to application of an electrical current, the electrical coil308A may generate a magnetic field. The magnetic field has a magneticflux. The magnetic flux may exert a force upon any magnetic material(i.e., the first hard magnet 306A and the second hard magnet 307A)within the magnetic field. The vector of the force may vary with themagnetic flux, which may vary according to the position of the magneticmaterial within the field. This force may cause the moveable bodyelement 302A to approach and/or contact either the first side softmagnet 304A or the second side soft magnet 305A. Such approaches and/orcontacts may result in one or more vibrations or taps which may beprovided to a user as haptic output or feedback.

When the second moveable body element 302A contacts the first side softmagnet 304A, the second moveable body element may magnetically attach tothe first side soft magnet. Subsequently, the second moveable bodyelement may remain magnetically attached to the first side soft magneteven after the electrical current that resulted in the movement of thesecond moveable body element is no longer applied to the electrical coil308A. A similar effect may occur when the second moveable body elementcontacts the second side soft magnet 305A.

FIG. 3B illustrates the magnetic actuator 300A of FIG. 3A after theapplication of a first electrical current to the electrical coil 308A,resulting in a lateral force being applied to the second moveable bodyelement 302A. As illustrated, the second moveable body elementapproaches, contacts, and magnetically attaches to the first side softmagnet 304A. This contact may result in a “tap” which may be provided toa user as haptic output or feedback.

The second moveable body element 302A may remain magnetically attachedto the first side soft magnet 304A even after the first electricalcurrent is no longer applied to the electrical coil 308A. The secondmoveable body element may remain magnetically attached to the first sidesoft magnet until a second electrical current is applied to theelectrical coil.

FIG. 3C illustrates the magnetic actuator 300A of FIG. 3B after theapplication of the second electrical current to the electrical coil308A, resulting in a lateral force (opposite to the lateral forceillustrated in FIG. 3B) being applied to the second moveable bodyelement 302A. As illustrated, the second moveable body elementapproaches, contacts, and magnetically attaches to the first side softmagnet 304A.

Although the moveable body element 302A has been illustrated anddescribed above as moveable with respect to the fixed body element 301A,it is understood that this is an example. In various implementations,the body element 301A may be moveable with respect to a fixed bodyelement 302A.

FIG. 3D is a front plan view of a second implementation of the fourthembodiment of a magnetic actuator 300B. In some implementations, such amagnetic actuator may be coupled to a device such as the track pad 102of FIG. 1A.

Returning to FIG. 3D, as illustrated, the magnetic actuator 300B mayinclude a first magnetic attraction element 303B, a second magneticattraction element 308B, and a moveable member 301B. The first magneticattraction element may include a first aperture 302B, the secondmagnetic attraction element may include a second aperture 307B, and themoveable member may be configured to move by passing and/or extendingthrough the first aperture and/or the second aperture. The moveablemember may be a shaft and may include a first hard magnet 304B, a secondhard magnet 306B, and at least one electrical coil 305B that is at leastpartially positioned or wrapped around the first hard magnet and/or thesecond hard magnet.

FIG. 3E is a cross sectional view of the magnetic actuator 300B takenalong line 3E in FIG. 3D. As illustrated, the first magnetic attractionelement 303B and the second magnetic attraction element 308B may be hardmagnets that are polarized towards each other. However, it is understoodthat this is an example and in various implementations the firstmagnetic attraction element and the second magnetic attraction elementmay be soft magnets. Similarly, the first hard magnet 304B and thesecond hard magnet 306B may be polarized towards each other.

In response to application of an electrical current, the electrical coil305B may generate a magnetic field. The magnetic field has a magneticflux. The magnetic flux may exert a force upon any magnetic material(i.e., the first hard magnet 304B and the second hard magnet 306B)within the magnetic field. The vector of the force may vary with themagnetic flux, which may vary according to the position of the magneticmaterial within the field. This force may cause the moveable member 301Bto move such that the first hard magnet 304B approaches and/or contactsthe first magnetic attraction element 303B or the second hard magnet306B approaches and/or contacts the second magnetic attraction element308B. Such approaches and/or contacts may result in one or morevibrations or taps which may be provided to a user as haptic output orfeedback.

When the first hard magnet 304B contacts the first magnetic attractionelement 303B, the first hard magnet may magnetically attach to the firstmagnetic attraction element. Subsequently, the first hard magnet mayremain magnetically attached to the first magnetic attraction elementeven after the force is no longer exerted upon the moveable member 301B.A similar effect may occur when the second hard magnet 306B contacts thesecond magnetic attraction element 308B.

FIG. 3F illustrates the magnetic actuator 300B of FIG. 3E after theapplication of a first electrical current to an electrical coil 305B,resulting in a force being applied to the moveable member 301B. Asillustrated, the moveable member moves such that the first hard magnet304B approaches, contacts, and magnetically attaches to the firstmagnetic attraction element 303B. This contact may result in a “tap”which may be provided to a user as haptic output or feedback.

The first hard magnet 304B may remain magnetically attached to the firstmagnetic attraction element 303B even after the first electrical currentis no longer applied to the electrical coil 305B. The first hard magnetmay remain magnetically attached to the first magnetic attractionelement a second electrical current is applied to the electrical coil,resulting in a force being applied to the moveable member 301B (oppositeto the force shown in FIG. 3F) such that the first hard magnet detachesfrom the first magnetic attraction element and the second hard magnet306B approaches the second magnetic attraction element 308B.

FIG. 3G illustrates the magnetic actuator 300B of FIG. 3F after theapplication of a second electrical current to the electrical coil 305B.As illustrated, the second hard magnet 306B approaches, contacts, andmagnetically attaches to the second magnetic attraction element 308B.

FIG. 3H illustrates the magnetic actuator of FIG. 3D with a housing 310Bsurrounding parts of the magnetic actuator. As illustrated, in someimplementations, such a housing may surround the first hard magnet 304B,the second hard magnet 306B, the electrical coil 305B, the firstmagnetic attraction element 303B, the second magnetic attraction element308B, and at least part of the moveable member 301B. As alsoillustrated, the housing may include a first housing aperture 309B and asecond housing aperture 311B and the moveable member 301B may beconfigured to move by passing and/or extending through the first housingaperture and/or the second housing aperture.

FIG. 4A is a front view of a first embodiment of a magnetic circuit400A. In some implementations, such a magnetic circuit may be a magneticactuator. In various implementations, such a magnetic circuit may becoupled to a device such as the track pad 102 of FIG. 1A.

Returning to FIG. 4A, as illustrated, the magnetic circuit 400A mayinclude a moveable bar element 401 that is moveably coupled to a fixedbar element 402. The moveable bar element may include a soft magnet 403,a first hard magnet 404, and a second hard magnet 405. The fixed barelement may include an electrical structure 407 (such as a wire, wireinsulated in plastic and/or rubber, and/or other electrical coilstructure) wound around a bar structure 406 of the fixed bar element.

As illustrated, the electrical coil structure 407 may have a firstsection 409 that is wound in a first direction around the bar structure406 and a second section 408 that is wound in a second direction aroundthe bar structure. The first direction may be opposite of the seconddirection. Further, the electrical coil structure may include a middlesection 410 where the winding in the first direction changes to thesecond direction. In various cases, the middle section may be attachedto the bar structure, such as utilizing adhesive.

In response to application of an electrical current, the electrical coilstructure 407 may generate a magnetic field. The magnetic field has amagnetic flux 414. The magnetic flux may exert a force upon any magneticmaterial (i.e., the first hard magnet 404 and the second hard magnet405) within the magnetic field. The vector of the force may vary withthe magnetic flux, which may vary according to the position of themagnetic material within the field. This force may cause the moveablebar element 401 to move laterally with respect to the fixed bar element402. Such movement may result in one or more vibrations which may beprovided to a user as haptic output or feedback.

As illustrated, the moveable bar element 401 may be moveably coupled tothe second moveable bar element 402 via bearings 413. As illustrated inFIG. 4B, the bearings may be positioned between first grooves 415 andsecond grooves 416. Movement of the bearings along the first grooves andsecond grooves may enable the moveable bar element to move laterallywith respect to the fixed bar element.

Although the magnetic circuit 400A is illustrated and described asutilizing the bearings 413 to moveably couple the moveable bar element401 and the fixed bar element 402, it is understood that this is anexample. In other implementations, springs or other moveable attachmentmechanisms may be utilized to moveably attach the moveable bar elementand the fixed bar element.

Although the moveable bar element 401 has been illustrated and describedabove as moveable with respect to the fixed bar element 402, it isunderstood that this is an example. In various implementations, the bodyelement 402 may be moveable with respect to a fixed body element 401.

FIG. 4C is a front view of a second embodiment of a magnetic circuit400C. Contrasted with the first embodiment of the magnetic circuit 400Aillustrated in FIGS. 4A and 4B, the magnetic circuit 400C may include anadditional moveable bar element 450. The additional moveable bar elementmay be moveably coupled to an opposite side of the fixed bar element 402from the moveable bar element 401. The additional moveable bar elementmay be moveably coupled to the fixed bar element via bearings 455.

Further contrasted with the magnetic circuit 400A illustrated in FIGS.4A and 4B, the moveable bar element 401 of the magnetic circuit 400C mayinclude a first mass adding element 457. The first mass adding elementmay be positioned between the first hard magnet 404 and the second hardmagnet 405 and may function to contribute mass to movement of the firstmoveable bar element. In some cases, the first mass adding element maybe formed from tungsten.

The additional moveable bar element 450 may include a soft magnet 451, athird hard magnet 453, and a fourth hard magnet 452. Additionally, theadditional moveable bar element may include a second mass adding element454. The second mass adding element may be positioned between the thirdhard magnet and the fourth hard magnet.

FIG. 4D is a front view of a third embodiment of a magnetic circuit400D. As contrasted with the first embodiment of the magnetic circuit400A illustrated in FIGS. 4A and 4B, the first grooves 415 and/or thesecond grooves 416 of the magnetic circuit 400D may include gearelements 461. Additionally, the bearings 413 (which may be cylindrical)may include gear elements 462. Interaction between the gear elements ofthe bearings and the gear elements of the grooves may enable themoveable bar element to move laterally with respect to the fixed barelement. Such an implementation may prevent slippage between thebearings and the grooves.

Although the magnetic circuit 400D is illustrated and described asutilizing the gear elements 461, 462, and 463 in the same magneticcircuit as the particular electrical coil structure 407, it isunderstood that this is an example. In other implementations the gearelements 461, 462, and 463 may be utilized to moveably couple variousdifferent moveable elements without departing from the scope of thepresent disclosure. For example, in some implementations the gearelements 461, 462, and 463 may be utilized to moveably couple elementssuch as the fixed body element 104 and the moveable body element 103 ofFIGS. 1B-1E.

FIG. 4E is a front view of a fourth embodiment of a magnetic circuit400E. As contrasted with the first embodiment of the magnetic circuit400A illustrated in FIGS. 4A and 4B, the bearings 413 may be cubes.Further, the first grooves 415 may include curved areas 471 and 473 thatcurve inward toward center point 472. The second grooves 416 may besimilarly curved. As such, when the moveable bar element 401 moveslaterally with respect to the fixed bar element 402 due to theapplication of electrical current to the electrical coil structure 407,the cube bearings may roll along the corresponding curved areas. Whenthe lateral movement is ceased, gravity and/or other forces may thencause the cube bearings to roll back along the corresponding curvedareas. This may provide a restorative force that may operate to returnthe moveable bar element to an original position with respect to thefixed bar element after the lateral force is ceased.

The relationship between the dimensions of the cube and the dimensionsof the curved areas 471, 473, 474, and/or 476 may determine whether ornot the cube bearings 413 move moveable first bar element 401 in apurely lateral direction or whether the cube bearings force the moveablebody element to translate vertically as well as laterally.

As discussed above and illustrated in the accompanying figures, thepresent disclosure discloses magnetic actuators and circuits. In variousembodiments, a magnetic actuator or circuit may include a moveableelement that is moveably coupled to a fixed element via one or morebearings positioned between one or more grooves. In some cases thegrooves may be curved. The bearings and the curves may exert arestorative force to return the first and second elements to an originalposition after movement. In various cases, the bearings may bespherical, cube, cylindrical, and/or include gear elements that interactwith one or more gear elements of the grooves.

In some embodiments, a body element may include one or more electricalcoils coplanar with a surface of the body element. In various cases, thebody element may also include one or more hard magnets positioned in thecenter of the electrical coil that are polarized to stabilize ordestabilize centering of the body element with respect to anotherelement.

In various embodiments, a magnetic circuit may include a bar elementwith one or more electrical coils wrapped around the bar element. Insome cases, the electrical coil may include a first section wrapped in afirst direction, a second section wrapped in an opposing direction, anda middle section that transitions between the first direction and thesecond direction.

In one or more embodiments, an actuator may include a fixed element withfirst and second side soft magnets that is moveably coupled to amoveable element. Exertion of force may cause the moveable element tomove such that the moveable body element approaches and/or contacts thefirst or second soft side magnet. Such contact may result in a “tap,”which may be provided to a user as a tactile output. Upon contact, themoveable element may magnetically attach to the respective soft sidemagnet and may remain so after the force is no longer exerted untilanother force is exerted that detaches the moveable element and causesit to move to approach the other soft side magnet.

In other embodiments, an actuator may include a first magneticattraction element, a second magnetic attraction element, and a moveablemember including a first hard magnet, a second hard magnet, and anelectrical coil. Exertion of force may cause the moveable member to movesuch that the first hard magnet approaches and/or contacts the firstmagnetic attraction element or the second hard magnet approaches and/orcontacts the second magnetic attraction element. Upon contact, therespective hard magnet may magnetically attach to the respectivemagnetic attraction element and may remain so after the force is nolonger exerted until another force is exerted that detaches therespective hard magnet and causes the moveable member to move such thatthe other hard magnet approaches the other magnetic attraction member.

In the present disclosure, the methods disclosed may be implemented assets of instructions or software readable by a device. Further, it isunderstood that the specific order or hierarchy of steps in the methodsdisclosed are examples of sample approaches. In other embodiments, thespecific order or hierarchy of steps in the method can be rearrangedwhile remaining within the disclosed subject matter. The accompanyingmethod claims present elements of the various steps in a sample order,and are not necessarily meant to be limited to the specific order orhierarchy presented.

The described disclosure may be provided as a computer program product,or software, that may include a non-transitory machine-readable mediumhaving stored thereon instructions, which may be used to program acomputer system (or other electronic devices) to perform a processaccording to the present disclosure. A non-transitory machine-readablemedium includes any mechanism for storing information in a form (e.g.,software, processing application) readable by a machine (e.g., acomputer). The non-transitory machine-readable medium may take the formof, but is not limited to, a magnetic storage medium (e.g., floppydiskette, video cassette, and so on); optical storage medium (e.g.,CD-ROM); magneto-optical storage medium; read only memory (ROM); randomaccess memory (RAM); erasable programmable memory (e.g., EPROM andEEPROM); flash memory; and so on.

It is believed that the present disclosure and many of its attendantadvantages will be understood by the foregoing description, and it willbe apparent that various changes may be made in the form, constructionand arrangement of the components without departing from the disclosedsubject matter or without sacrificing all of its material advantages.The form described is merely explanatory, and it is the intention of thefollowing claims to encompass and include such changes.

While the present disclosure has been described with reference tovarious embodiments, it will be understood that these embodiments areillustrative and that the scope of the disclosure is not limited tothem. Many variations, modifications, additions, and improvements arepossible. More generally, embodiments in accordance with the presentdisclosure have been described in the context or particular embodiments.Functionality may be separated or combined in blocks differently invarious embodiments of the disclosure or described with differentterminology. These and other variations, modifications, additions, andimprovements may fall within the scope of the disclosure as defined inthe claims that follow.

1. An actuator, comprising: a fixed body element, including at least onefirst groove and at least one electrical coil; a moveable body element,including at least one second groove and a first and second hard magnet;and at least one bearing positioned between the at least one firstgroove and the at least one second groove that separates the fixed bodyelement from the moveable body element; wherein the moveable bodyelement is magnetically attracted toward the fixed body element, thefirst hard magnet has an opposite polarity facing a surface of themoveable body element than the second hard magnet, and at least one ofthe at least one first groove or the at least one second groove iscurved such that applying a lateral force to the moveable body elementcauses the at least one bearing to force the moveable body elementvertically away from the fixed body element.
 2. The actuator of claim 1,wherein ceasing to apply the lateral force causes the at least onebearing to allow the moveable body element to move closer to the fixedbody element.
 3. (canceled)
 4. The actuator of claim 1, wherein the atleast one bearing is cylindrical.
 5. (canceled)
 6. (canceled) 7.(canceled)
 8. The actuator of claim 1, wherein the moveable body elementfurther includes at least one soft magnet positioned such that the firstand second hard magnets are positioned between the at least one softmagnet and the fixed body element.
 9. (canceled)
 10. The actuator ofclaim 1, wherein the at least one bearing comprises a plurality ofbearings, the at least one first groove comprises a plurality of firstgrooves, the at least one second groove comprises a plurality of secondgrooves, and each of the plurality of bearings is positioned between oneof the plurality of first grooves and one of the plurality of secondgrooves.
 11. (canceled)
 12. An actuator, comprising: a first bodyelement comprising a first hard magnet and a second hard magnet; and asecond body element that is moveably coupled to the first body elementand comprises at least one electrical coil and at least one center hardmagnet positioned in a center of the at least one electrical coil;wherein the center hard magnet is polarized to either: oppose adirection of the magnetic flux; or correspond with the direction of themagnetic flux.
 13. The actuator of claim 12, wherein the center hardmagnet is polarized to correspond with the direction of the magneticflux and exerts a restorative force to return the second body element toan original position with respect to the first body element afterlateral movement.
 14. The actuator of claim 12, wherein the center hardmagnet is polarized to oppose the direction of the magnetic flux andresists return of the second body element to the original position. 15.The actuator of claim 12, wherein the center hard magnet is polarized tooppose the direction of the magnetic flux and destabilizes centering ofthe second body element with respect to the first body element.
 16. Theactuator of claim 12, wherein the first body element further comprisesat least a first soft magnet element wherein at least one of the firsthard magnet or the a second hard magnet is positioned between the firstsoft magnet and the second body element.
 17. The actuator of claim 12,wherein the second body element further comprises at least a second softmagnet element wherein at least one of the at least one electrical coilor the at least one center hard magnet is positioned between the secondsoft magnet and the first body element.
 18. A magnetic circuit,comprising: a moveable bar element that includes at least a first hardmagnet and a second hard magnet; and a fixed bar element that includesan electrical coil structure wound around the fixed bar element whereina first section of the electrical coil structure is wound in a firstdirection around a first area of the fixed bar element and a secondsection of the electrical coil structure is wound in a second directionaround a second area of the fixed bar element; wherein the moveable barelement is moveably coupled to the fixed bar element.
 19. The magneticcircuit of claim 18, wherein the first direction and the seconddirection are opposing directions.
 20. The magnetic circuit of claim 18,wherein the electrical coil structure includes a middle section wheredirection of winding is changed between the first direction and thesecond direction.
 21. The magnetic circuit of claim 20, wherein themiddle section is attached to the fixed bar element.
 22. (canceled) 23.The magnetic circuit of claim 18, wherein the moveable bar elementfurther comprises at least one soft magnet wherein at least one of thefirst hard magnet or the second hard magnet is positioned between the atleast one soft magnet and the fixed bar element.
 24. The magneticcircuit of claim 18, wherein the moveable bar element is moveablycoupled to the fixed bar element by at least one bearing that ispositioned between at least one first groove and at least one secondgroove.
 25. (canceled)
 26. (canceled)
 27. The magnetic circuit of claim18, further comprising an additional moveable bar element separated fromthe moveable bar element by the fixed bar element wherein the additionalmoveable bar element is moveably coupled to the fixed element andincludes at least a third hard magnet and a fourth hard magnet. 28-36.(canceled)
 37. An actuator, comprising: a fixed body element, includingat least one first groove and at least one electrical coil; a moveablebody element, including at least one second groove and a first andsecond hard magnet; and at least one cube bearing positioned between theat least one first groove and the at least one second groove thatseparates the at least one moveable body element from the fixed bodyelement; wherein the moveable body element is magnetically attractedtoward the fixed body element and at least one of the at least one firstgroove or the at least one second groove is curved such that applying alateral force to the moveable body element causes the at least one cubebearing to move the moveable body element laterally with respect to thefixed body element.
 38. The actuator of claim 37, wherein ceasing toapply the lateral force causes the at least one cube bearing to move themoveable body element laterally with the fixed body element to return toan original position. 39-60. (canceled)